#ifndef SROS_LOCATION_PREDICT_ACC_HPP
#define SROS_LOCATION_PREDICT_ACC_HPP

#include "predict_impl.hpp"

namespace sros::location
{
    using predict_by_acc_impl = predict_impl<Eigen::Vector3d, 
                                               Eigen::Matrix3d, 
                                               Eigen::Matrix3d, 
                                               Eigen::Matrix3d, 
                                               Eigen::Matrix<double, 3, 1>, 
                                               double>;
    class predict_by_acc : public predict_by_acc_impl
    {
    public:
        predict_by_acc();
        virtual ~predict_by_acc() = default;

    protected:
        void init_() override;
    };
}

#endif
